Skip to content

Commit

Permalink
Create main.py
Browse files Browse the repository at this point in the history
  • Loading branch information
@xsnoopy
xsnoopy authored Apr 10, 2021
1 parent e836236 commit 8174bd8
Showing 1 changed file with 127 additions and 0 deletions.
127 changes: 127 additions & 0 deletions main.py
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,127 @@
# This is a Python script to convert Betaflight Blackbox telemetry logs and prepare them to
# be used as overlays for Dashware.
# Author Michael - Michael (at) believeinrealty.com
# Version 0.1

import os
import csv
import math
import pathlib

def haversine(lat1, lon1, lat2, lon2):
r = 6372800 # Earth radius in meters

phi1, phi2 = math.radians(lat1), math.radians(lat2)
dphi = math.radians(lat2 - lat1)
dlambda = math.radians(lon2 - lon1)

a = math.sin(dphi / 2) ** 2 + \
math.cos(phi1) * math.cos(phi2) * math.sin(dlambda / 2) ** 2

return 2 * r * math.atan2(math.sqrt(a), math.sqrt(1 - a))


""" In the first part of the progam the raw blackbox data gets decoded into a CSV file"""

filenames = os.listdir() # Read oll files in the directory to find the log file
b = 0
for i in filenames:
if filenames[b][-3:] == "TXT" or filenames[b][-3:] == "bbl": # Check for if last 3 digits of each
# list items with filenames machtes
# a betaflight log
currentfile = filenames[b]
print("Logfile file found, try to convert " + currentfile)
bbdecode = str(pathlib.Path(__file__).parent.absolute()) + "/blackbox_decode --limits --unit-frame-time s " \
"--unit-height m --unit-rotation deg/s " \
"--unit-acceleration g --unit-gps-speed kph " \
"--merge-gps --declination-dec 7.03 " \
"--unit-vbat V --debug " + filenames[b] # Start Blackbox decode
# with parameters
os.system(bbdecode) # Call blackbox_decode
print(" Blackbox converted successful to csv ")
b += 1 # check next file

# First part done. The blackbox data should be extracted successful.
# Now preparing the CSV file for Dashware.

filenames = os.listdir() # Read oll files in the directory to find the log file
b = 0
for i in filenames:
if filenames[b][-3:] == "csv":
currentfile = filenames[b]
print("CSV file found, try to import " + currentfile) # Check for if last 3 digits of each
# list items with filenames machtes
# a csv file
with open(currentfile) as csv_file:
csv_reader = list(csv.reader(csv_file, delimiter=',')) # import csv file and create list of csv lines
numcolumn = len(csv_reader[0]) # determine columns in csv file
line_count = 0
for row in csv_reader: # Split up GPS coordinates for each
if line_count == 0: # Prepare header row
#print(csv_reader[0])
csv_reader[line_count].insert(numcolumn + 1, "Time of video (s)") # Insert Time of video
csv_reader[line_count].insert(numcolumn + 2, "Vbat (V)") # Insert GPS Latitude
csv_reader[line_count].insert(numcolumn + 3, "Acceleration total (g)") # Insert Acceleration
csv_reader[line_count].insert(numcolumn + 4, "Total Motor Power (VA)") # Insert Motor power
csv_reader[line_count].insert(numcolumn + 5, "GPS dist home (m)") # Insert GPS dist home
csv_reader[line_count].insert(numcolumn + 6, "GPS dist trav (m)") # Insert GPS distance traveled home
"""
csv_reader[line_count][32] = "Throttle %" # Throttle in %"""

if line_count == 1:
csv_reader[line_count].insert(numcolumn + 1, float(0.0)) # Time calculation
csv_reader[line_count].insert(numcolumn + 2, float(csv_reader[line_count][21]) / float(10.0)) # Volatge correction
csv_reader[line_count].insert(numcolumn + 3, round(math.sqrt(float(csv_reader[line_count][31]) *
float(csv_reader[line_count][31]) +
float(csv_reader[line_count][32]) *
float(csv_reader[line_count][32]) +
float(csv_reader[line_count][33]) *
float(csv_reader[line_count][33])), 2)) # Calculate acceleration
csv_reader[line_count].insert(numcolumn + 4, round(float(csv_reader[line_count][numcolumn + 2]) *
float(csv_reader[line_count][22]), 2)) # Calculate Motor power
csv_reader[line_count].insert(numcolumn + 5, "0.0") # Initial Home distance set to 0
csv_reader[line_count].insert(numcolumn + 6, "0.0") # Initial travel distance set to 0
csv_reader[line_count][49] = csv_reader[25][49] # Copy of a later GPS position to use at home.
csv_reader[line_count][50] = csv_reader[25][50] # Copy of a later GPS position to use at home.
"""
csv_reader[line_count][32] = round(float(float(csv_reader[line_count][32])
+ 1024.0)/20.48, 2) # convert throttle to %"""

if line_count >= 2:
csv_reader[line_count].insert(numcolumn + 1, (round(float(csv_reader[line_count][1]) - float(csv_reader[line_count-1][1]) + float(csv_reader[line_count-1][numcolumn]), 5))) # Time calc.
csv_reader[line_count].insert(numcolumn + 2, round(float(csv_reader[line_count][21]) / float(10.0), 2)) # Volatge correction
csv_reader[line_count].insert(numcolumn + 3, round(math.sqrt(float(csv_reader[line_count][31]) *
float(csv_reader[line_count][31]) +
float(csv_reader[line_count][32]) *
float(csv_reader[line_count][32]) +
float(csv_reader[line_count][33]) *
float(csv_reader[line_count][
33])), 2)) # Calculate acceleration
csv_reader[line_count].insert(numcolumn + 4, round(float(csv_reader[line_count][numcolumn + 1]) *
float(csv_reader[line_count][22]), 2)) # Calculate Motor power

csv_reader[line_count].insert(numcolumn + 5, round((haversine(float(csv_reader[20][49]),
float(csv_reader[20][50]),
float(csv_reader[line_count - 1][49]),
float(csv_reader[line_count - 1][50]))), 2)
) # Calculating distance to home using the GPS coordinate form line 20 as the home point
csv_reader[line_count].insert(numcolumn + 6, round((float(haversine(float(csv_reader[line_count][49]),
float(csv_reader[line_count][50]),
float(csv_reader[line_count - 1][49]),
float(csv_reader[line_count - 1][50]))) +
float(csv_reader[line_count - 1][numcolumn + 5])), 2)
) # Using the GPS coordinate to caclculate distance traveled
"""csv_reader[line_count][32] = round(float(
float(csv_reader[line_count][32]) + 1024.0) / 20.48,2) # convert Throttle to %"""
line_count += 1

line_count = 0
with open('{0}_converted.csv'.format(currentfile[:-4]), mode='w') as output_file: # add _converted to output filename
output_file = csv.writer(output_file, delimiter=',', quotechar='"', quoting=csv.QUOTE_MINIMAL)
for row in csv_reader:
output_file.writerow(csv_reader[line_count])
line_count += 1
print("Converting of the CSV file successful")
b += 1

0 comments on commit 8174bd8

Please sign in to comment.